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The detection and recognition of unstructured roads in forest environments are critical for smart forestry technology. Forest roads lack effective reference objects and manual signs and have high degrees of nonlinearity and uncertainty, which pose severe challenges to forest engineering vehicles. This research aims to improve the automation and intelligence of forestry engineering and proposes an unstructured road detection and recognition method based on a combination of image processing and 2D lidar detection. This method uses the “improved SEEDS + Support Vector Machine (SVM)” strategy to quickly classify and recognize the road area in the image. Combined with the remapping of 2D lidar point cloud data on the image, the actual navigation requirements of forest unmanned navigation vehicles were fully considered, and road model construction based on the vehicle coordinate system was achieved. The algorithm was transplanted to a self-built intelligent navigation platform to verify its feasibility and effectiveness. The experimental results show that under low-speed conditions, the system can meet the real-time requirements of processing data at an average of 10 frames/s. For the centerline of the road model, the matching error between the image and lidar is no more than 0.119 m. The algorithm can provide effective support for the identification of unstructured roads in forest areas. This technology has important application value for forestry engineering vehicles in autonomous inspection and spraying, nursery stock harvesting, skidding, and transportation.

Based on Internet-of-Things and multi-sensor technology, an intelligent wireless monitoring system was developed to obtain field ecological parameters and provide forest fire warning in real-time. The GPRS and China&rsquo, s Beidou satellite communication were selectively used for date transmission in the field with weak cell phone signals. This monitoring system is mainly composed of several field ecological monitoring stations, a cloud server, and online system software. Atmosphere, soil, sunlight and plant parameters of different regions are obtained real-time by sensors stably and reliably. This system has functions such as field ecological data storage, dynamic query, report generation, and data analysis. As an example of typical application, the forest fire weather grade, which was supplemented with the litter layer soil humidity, was calculated to realize the early warning of the local forest fire in this system through continuous experiments at Beijing Jiufeng National Forest Park from March to May 2017 and Inner Mongolia from March to June 2018. The success ratios of data transmission through Beidou satellite were 98.57%, 99.43%, 99.59%, and 98.85%, respectively, in Beijing, and through GPRS were 99.89% and 99.90% in Inner Mongolia. Long-term real-time field ecological monitoring and forest fire warning were successfully realized. This system can be widely used for big data field acquisition and analysis in forest and agriculture regions.